/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include "pid.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

uint8_t motor_send_flag=0;
uint16_t motor_pwm=90;
uint8_t motor_dir=0;
uint16_t motor_pulse_num=0;

uint32_t last_target_time = 0;  // 记录上一次更新Target的时间（毫秒）
uint16_t target_step = 1;       // 每次增加的目标值（这里是5）
uint32_t interval_ms = 30000;   // 定时间隔（10秒 = 10000毫秒）

extern pid motor_pid;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM1_Init();
  MX_TIM6_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  
  
	// 清除定时器初始化过程中的更新中断标志，避免定时器一启动就中断
	__HAL_TIM_CLEAR_IT(&htim6, TIM_IT_UPDATE);		
	// 使能定时器6更新中断并启动定时器
	HAL_TIM_Base_Start_IT(&htim6);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_4);
  
  
	motor_pid.Target = 0.0f;               // 初始目标值（根据需要调整）
	last_target_time = HAL_GetTick();   // 记录启动时的时间作为初始基准
	motor_pid.Error0 = 0.0f;               // 初始化误差值，避免初始波动
	motor_pid.Error1 = 0.0f;
	motor_pid.Error2 = 0.0f;

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  progress_handle();
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = RCC_PLLM_DIV4;
  RCC_OscInitStruct.PLL.PLLN = 85;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
  RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void progress_handle(void)
{
	 uint32_t current_time = HAL_GetTick();  // 获取当前时间（毫秒）
    // 计算时间差（处理HAL_GetTick()溢出的情况，uint32_t溢出后会自动回绕）
    if ((current_time - last_target_time) >= interval_ms)
    {
        motor_pid.Target += target_step;  // 每10秒增加5
        last_target_time = current_time;  // 更新上次更新时间
    }
	
	
	if(motor_send_flag==1)
	{
		motor_send_flag=0;
		static uint16_t time_s;
		time_s++;
//		printf("motor_pulse_num:%d\r\n",motor_pulse_num);
		printf("%f,%d,%d\n",motor_pid.Target,motor_pulse_num,time_s);
		motor_pulse_num=0;
	}
	
	
//	__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_4,100);
//	HAL_Delay(1000);
//	__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_4,1000);
//	__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_4,1000-motor_pwm);
//	HAL_Delay(1);
//	HAL_Delay(10000);
//	__HAL_TIM_SetCompare(&htim1,TIM_CHANNEL_4,1000);


}




/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
